变构态输电线路巡检机器人-作业环境耦合机理及动力学响应与位姿调控

The interaction and coupling mechanism between inspection robot and complex transmission line working environment is not clear, so it is difficult to achieve parameters matching of system and pose adjustment to meet multi-target requirements, and the requirements of obstacle surmounting inspection, configuration transformation and performance guarantee cannot be meet. The research object of the project is the variable configuration transmission line inspection robot, and the project researches on coupling system of robot working environment. The quasi-static models of different partial configurations are built so that the quasi-static model of full configuration is obtained, the evolution regulation of the topological structure among different configurations is clarified, the time-varying characteristics of the contact and constraints of mechanism and wires are explored, and the change regulation of the motion and force transmission characteristics with configuration transformation is ascertained. The dynamic models of coupling system with different configurations and full configuration are built, the effects of wind load, obstacle surmounting and configuration transformation on the dynamic response are analyzed, the coupling mechanism of system is revealed, and the effect of body pose on response characteristics is determined. According to the results of static and dynamic analysis, the configuration transformation, the strategies of pose adjustment and the criteria of system stability are proposed to match the running parameters of the system, to adjust the pose, and to improve the ability of obstacle surmounting, the stability of configurations and the dynamic response characteristics of the system. The variable configuration transmission line inspection robot is designed for experimental verification research. The results of this project will provide theoretical reference for the structural design, dynamic modeling, characteristics analysis, performance control and so on.

由于巡检机器人与复杂输电线路作业环境的交互作用耦合机理尚不明确，难以实现多目标需求的系统参数匹配和位姿调控，无法满足越障巡检、构态变换和性能保障要求。项目以变构态巡检机器人为研究对象，围绕机器人-作业环境耦合系统开展具体研究：建立不同分构态的准静力学模型，进而得到全构态的准静力学模型，并阐明不同构态间拓扑结构演化规律，探索机构间和导线的接触与约束时变特性，探明运动和力传递特性随构态变换的变化规律；建立不同构态及全构态的耦合系统动力学模型，分析风载、越障和构态变换行为对动力学响应的影响变化规律，揭示系统的耦合机理，确定响应特性与机体位姿的对应关系；依据静力学和动力学分析结果，提出构态变换及位姿调控策略，并提出稳定性判定准则，匹配系统运行参数和位姿调控，提高机器人越障能力和构态稳定性、改善动力学响应特性；利用变构态变胞巡检机器人开展试验验证研究。为结构设计、动力学分析、性能调控等提供理论依据。

本项目以变构态巡检机器人为研究对象，研究机器人在巡检过程中的机构运动和力传递特性、构态变化、动力学响应和位姿调控等问题，以提高巡检机器人构态转换稳定性、障碍跨越和位姿调控能力。在结构设计方面，设计了一种适应性强、可跨越多种线路障碍的新型线路巡检机器人，开展了理论分析与样机实验，验证输电线路巡检机器人设计的可行性。在机器人-作业环境耦合动力学及响应特性研究方面，开展了有限元模态分析，分析了风载荷激励下输电塔-线-巡检机器人系统的动力学响应；研究了一种用于减弱风载下机器人的摆振抑制策略。在传动系统的动力学特性方面，简化巡检机器人传动系统，建立了动力学模型。分析了考虑齿面接触闪络温度的动态磨损模型对齿轮轴承系统动态特性的影响，探究了齿轮啮合过程中齿面温度和啮合刚度的变化规律。在关节驱动系统建模及分析方面，简化机器人的关节模型，建立了双惯量系统模型，依据电机双闭环控制策略，使用PI调节器进行控制，开展了相关的数值仿真分析和控制实验。在越障时机器人的动态性能方面，分析了越障状态下受负载时影响的动态性能，提出采用对柔性关节伺服驱动系统进行极点配置的方法，来减小巡检机器人越障关节的输出速度的波动。在伺服驱动系统的抑振方法研究方面，完成了一种基于干扰观测器的机器人伺服系统抑振策略的研究，开展了相关的数值仿真分析和控制实验。本项目重要的理论研究意义和实际应用价值在于：提供了一个可行途径以提高机器人对复杂作业环境的适应性、交互能力和位姿调控技术。经理论与实验证明所提出的巡检方式、控制方法、抑振策略均能有效满足未来架空线路巡检机器人的精细化巡检要求。项目发表论文24篇（SCI检索16篇），授权和申请发明专利9项，培养研究生8名。